Dual-core and single-wheel drive free lifting high speed robot electric sickbed controller

Abstract

The invention discloses a dual-core and single-wheel drive free lifting high speed robot electric sickbed controller. The controller comprises a battery, a control panel, a motor X, a motor Y, a motor Z, a motor R and a robot electric sickbed, wherein the control panel adopts a dual-core controller and comprises a DSP and an FPGA; the DSP and the FPGA are in communication connection; and forward moving, the moving speed, the moving direction and lifting motion of the robot electric sickbed are controlled by the motor X, the motor Y, the motor Z and the motor R via magnetoelectricity encoders. The controller has the beneficial effects that the amount of labor and labor intensity of nursing workers or nurses can be reduced; meanwhile, a one-axis electric lifting device is additionally arranged at the head and tail of the robot electric sickbed respectively and has the function of freely lifting the heads, waists and legs of patients; and through combination of various sensors, the robot electric sickbed has various functions and can meet the requirements of the patients for the sickbed under different conditions.

Description

technical field [0001] The invention relates to an automatic control system for a dual-core, single-wheel drive, free-rising medical high-speed robot electric sick bed, which belongs to the field of automatic electric sick beds. Background technique [0002] The medical bed system is a device used to carry patients in the hospital ward. At present, the medical beds used in hospitals in developed countries are basically all automated, and multifunctional electric beds have also been used in family beds and community hospital beds. Some medical beds can be changed in shape by external force to assist in adjusting the patient's position, and some of the accessories have the effect of promoting the recovery of patients; controllable electric beds are relatively advanced automation products, which have the advantages of saving time and effort. Due to the characteristics of electric control, the control keys can be installed in any range that allows the hospital bed to receive si...

AI Technical Summary

Problems solved by technology

[0005] (1) Part of the existing hospital beds are supported by four fixed feet in contact with the ground, and the patients are fixed in a certain closed environment. With the long-term hospitalization of the patients, it has caused great physical and mental damage to the patients. s damage;

[0006] (2) Although some beds have changed the fixed feet to mechanical universal wheels, the beds can be moved to a certain space by the medical staff, but due to the random movement of the beds, sometimes there will be misoperation, and sometimes it will hurt the patient. patient;

[0007] (3) With the improvement of the quality of life of modern human beings, the number of obese patients has increased in large numbers, and nurses are generally thinner. Moving patients through mechanical universal wheels makes nurses very strenuous and increases the labor intensity;

[0008] (4) With the aggravation of aging, a large number of elderly people also increase the demand for hospital beds, and there are relatively few nursing staff now, and the hospital beds based on mechanical universal wheels increase the labor intensity of nursing staff;

[0009] (5) All mechanical beds are generally fixed in a certain position, and once they need to be moved or changed directions, they need to be completed by external personnel, which increases the workload of nurses;

[0010] (6) Even if the current mechanical hospital bed can be pushed to the external environment through the door of the ward by external force, due to the relatively low degree of automation of human operation, it takes some time to adjust the posture of the bed to pass through the door of the ward;

[0011] (7) Even if the current mechanical hospital bed can reach the environment outside the ward through the support of mechanical universal wheels, it not only adjusts the patient's body and mind, but also increases the workload of the nurses, especially when passing through the climbing place. The physical strength of the nursing staff puts forward higher requirements;

[0015] (11) The robot electric hospital bed based on single-core control has to deal with not only the servo control of multi-axis motors, but also the sampling data of various sensors of the robot hospital bed. Since the single-core processor processes more data, the calculation speed is not very high. Fast, which is not conducive to the high-speed operation of the robot, and sometimes the robot bed is out of control due to the large amount of processing data;

[0016] (12) Due to the frequent braking and starting of the robot electric hospital bed during operation, the workload of the single-core controller is increased, and the single-core controller cannot meet the requirements for rapid start and stop of the robot electric hospital bed;

[0017] (13) Due to the interference of unstable factors in the surrounding environment, the controller of the single-core robot electric hospital bed often appears abnormal, causing the robot bed to lose control during driving, and the anti-interference ability is poor;

[0018] (14) Although the PWM control signal of the multi-axis motor can be generated based on the dedicated servo control chip, it can only be realized by inputting the control parameters after the main controller communicates with the dedicated chip, resulting in a decrease in the overall computing speed;

[0019] (15) Affected by the internal servo program of the dedicated servo control chip, in general, the servo control PID parameters cannot be changed in real time, which cannot meet the requirements of the real-time and fast servo control system for electric hospital beds

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